WHOI scientists Rich Camilli (left) and Dana Yoerger have spearheaded efforts to give more autonomy to the autonomous underwater vehicle Sentry. Yoerger, who helped lead the development of the deep-sea robot, has been working closely with Camilli to integrate his TETHYS underwater mass spectrometer into Sentry as a payload sensor, enabling chemical measurements to be used as a guidance system for the vehicle. (Photo by Chris Reddy, Woods Hole Oceanographic Institution)